diff --git a/armor/include/armor_finder/armor_finder.h b/armor/include/armor_finder/armor_finder.h index 9a02838..89d16cd 100644 --- a/armor/include/armor_finder/armor_finder.h +++ b/armor/include/armor_finder/armor_finder.h @@ -79,11 +79,11 @@ public: explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0); + cv::Point2f getCenter() const; double getBlobsDistance() const; double lengthDistanceRatio() const; double getBoxDistance() const; BoxOrientation getOrientation() const; -// double bool operator<(const ArmorBox &box) const; }; @@ -107,24 +107,19 @@ private: NORMAL, ANTI_TOP } AntiTopState; - typedef enum{ - INCREASE, DECREASE, NOCHANGE - } BoxRatioChangeType; - systime frame_time; // 当前帧对应时间; const uint8_t &enemy_color; // 敌方颜色，引用外部变量，自动变化 State state; // 自瞄状态对象实例 - ArmorBox armor_box; // 当前目标装甲板 + ArmorBox target_box, last_box; // 目标装甲板 + int anti_switch_cnt; // 防止乱切目标计数器 cv::Ptr tracker; // tracker对象实例 Classifier classifier; // CNN分类器对象实例，用于数字识别 - int contour_area; // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用） + int contour_area; // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用） int tracking_cnt; // 记录追踪帧数，用于定时退出追踪 Serial &serial; // 串口对象，引用外部变量，用于和能量机关共享同一个变量 const uint8_t &use_classifier; // 标记是否启用CNN分类器，引用外部变量，自动变化 - RoundQueue top_periodms; - RoundQueue box_ratioes; + RoundQueue top_periodms; // 陀螺周期循环队列 systime last_front_time; // 上一次发生装甲板方向切换的时间 - BoxRatioChangeType last_ratio_type; int anti_top_cnt; // 满足条件的装甲板方向切换持续次数，用于反陀螺 AntiTopState anti_top_state; // 当前是否识别到陀螺 @@ -135,12 +130,11 @@ private: bool stateTrackingTarget(cv::Mat &src); // tracking state主函数 bool stateStandBy(); // stand by state主函数（已弃用） - void antiTop(); // 反小陀螺 - BoxRatioChangeType getRatioChangeType(RoundQueue &vec); + void antiTop(); // 反小陀螺 + bool sendBoxPosition(uint16_t shoot); // 和主控板通讯 public: void run(cv::Mat &src); // 自瞄主函数 - bool sendBoxPosition(uint16_t shoot); // 和主控板通讯 }; #endif /* _ARMOR_FINDER_H_ */ diff --git a/armor/src/armor_finder/anti_top/anti_top.cpp b/armor/src/armor_finder/anti_top/anti_top.cpp index 6e622d2..0e730d6 100644 --- a/armor/src/armor_finder/anti_top/anti_top.cpp +++ b/armor/src/armor_finder/anti_top/anti_top.cpp @@ -6,13 +6,6 @@ #include #include -static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b) { - cv::Point2d centerA(a.x + a.width / 2, a.y + a.height / 2); - cv::Point2d centerB(b.x + b.width / 2, b.y + b.height / 2); - auto dist = centerA - centerB; - return sqrt(dist.x * dist.x + dist.y * dist.y); -} - template static double mean(RoundQueue &vec) { double sum = 0; @@ -22,75 +15,16 @@ static double mean(RoundQueue &vec) { return sum / length; } -ArmorFinder::BoxRatioChangeType ArmorFinder::getRatioChangeType(RoundQueue &vec) { - auto d = (vec[0] - vec[1] + vec[3] + vec[4]); - if (d > 0.15) { - return INCREASE; - } else if (d < -0.15) { - return DECREASE; - } else { - return NOCHANGE; - } -} - -/* void ArmorFinder::antiTop() { if (target_box.rect == cv::Rect2d()) return; uint16_t shoot_delay = 0; auto interval = getTimeIntervalms(frame_time, last_front_time); - box_ratioes.push(target_box.rect.width / target_box.rect.height); - auto change_type = getRatioChangeType(box_ratioes); - auto orientation = target_box.getOrientation(); - if (interval > 700) { - anti_top_cnt = 0; - if (anti_top_state == ANTI_TOP) { - anti_top_state = NORMAL; - LOGM(STR_CTR(WORD_YELLOW, "switch to normal")); - } - } - if (change_type == INCREASE && last_ratio_type != change_type) { - last_front_time = frame_time; - if (150 < interval && interval < 700) { - if (anti_top_state == ANTI_TOP) { - top_periodms.push(interval); - LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), interval); - systime curr_time; - getsystime(curr_time); - auto calculate_time = getTimeIntervalms(curr_time, frame_time); - shoot_delay = mean(top_periodms) - calculate_time; - } else if (anti_top_state == NORMAL) { - if (++anti_top_cnt > 4) { - anti_top_state = ANTI_TOP; - LOGM(STR_CTR(WORD_CYAN, "switch to anti-top")); - } - } - } - } - if (change_type != NOCHANGE) { - last_ratio_type = change_type; - } - if (anti_top_state == ANTI_TOP) { - if (orientation == ArmorBox::FRONT) { - sendBoxPosition(shoot_delay); - } - } else if (anti_top_state == NORMAL) { - sendBoxPosition(shoot_delay); - } -} -*/ - -void ArmorFinder::antiTop() { - if (target_box.rect == cv::Rect2d()) return; - uint16_t shoot_delay = 0; - auto interval = getTimeIntervalms(frame_time, last_front_time); - if (anti_top_state == ANTI_TOP && interval > 500) { + if (anti_top_state == ANTI_TOP && interval > 700) { anti_top_state = NORMAL; LOGM(STR_CTR(WORD_YELLOW, "switch to normal")); } - if (last_box.rect != cv::Rect2d() && - getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.0) { - LOGM("switch! %lf", getPointLength(last_box.getCenter() - target_box.getCenter()) / last_box.rect.height); - if (150 < interval && interval < 500) { + if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.5) { + if (150 < interval && interval < 700) { if (anti_top_state == ANTI_TOP) { top_periodms.push(interval); LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), interval); @@ -110,8 +44,8 @@ void ArmorFinder::antiTop() { } if (anti_top_state == NORMAL) { sendBoxPosition(0); - } else if (interval < top_periodms[-1] * 0.10) { - sendBoxPosition(0); + } else if (interval < top_periodms[-1] * 0.1){ + sendBoxPosition(shoot_delay); } last_box = target_box; } diff --git a/armor/src/armor_finder/armor_box/armor_box.cpp b/armor/src/armor_finder/armor_box/armor_box.cpp index 607e984..0278ab4 100644 --- a/armor/src/armor_finder/armor_box/armor_box.cpp +++ b/armor/src/armor_finder/armor_box/armor_box.cpp @@ -8,6 +8,15 @@ ArmorBox::ArmorBox(const cv::Rect &pos, const LightBlobs &blobs, uint8_t color, int i) : rect(pos), light_blobs(blobs), box_color(color), id(i) {}; + +cv::Point2f ArmorBox::getCenter() const { + return cv::Point2f( + rect.x + rect.width / 2, + rect.y + rect.height / 2 + ); +} + + double ArmorBox::getBlobsDistance() const { if (light_blobs.size() == 2) { auto &x = light_blobs[0].rect.center; @@ -78,10 +87,10 @@ bool ArmorBox::operator<(const ArmorBox &box) const { return prior_red[id2name[id]] < prior_red[id2name[box.id]]; } } else { - auto d1 = (rect.x-IMAGE_CENTER_X)*(rect.x-IMAGE_CENTER_X) - + (rect.y-IMAGE_CENTER_Y)*(rect.y-IMAGE_CENTER_Y); - auto d2 = (box.rect.x-IMAGE_CENTER_X)*(box.rect.x-IMAGE_CENTER_X) - + (box.rect.y-IMAGE_CENTER_Y)*(box.rect.y-IMAGE_CENTER_Y); + auto d1 = (rect.x - IMAGE_CENTER_X) * (rect.x - IMAGE_CENTER_X) + + (rect.y - IMAGE_CENTER_Y) * (rect.y - IMAGE_CENTER_Y); + auto d2 = (box.rect.x - IMAGE_CENTER_X) * (box.rect.x - IMAGE_CENTER_X) + + (box.rect.y - IMAGE_CENTER_Y) * (box.rect.y - IMAGE_CENTER_Y); return d1 < d2; } } diff --git a/armor/src/armor_finder/armor_finder.cpp b/armor/src/armor_finder/armor_finder.cpp index 2b90d35..800ef49 100644 --- a/armor/src/armor_finder/armor_finder.cpp +++ b/armor/src/armor_finder/armor_finder.cpp @@ -50,6 +50,9 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string ¶s_folder, serial(u), enemy_color(color), state(STANDBY_STATE), + anti_top_cnt(0), + anti_switch_cnt(0), + anti_top_state(NORMAL), classifier(paras_folder), contour_area(0), use_classifier(use), @@ -63,15 +66,15 @@ void ArmorFinder::run(cv::Mat &src) { switch (state) { case SEARCHING_STATE: if (stateSearchingTarget(src)) { - if ((armor_box.rect & cv::Rect2d(0, 0, 640, 480)) == armor_box.rect) { // 判断装甲板区域是否脱离图像区域 + if ((target_box.rect & cv::Rect2d(0, 0, 640, 480)) == target_box.rect) { // 判断装甲板区域是否脱离图像区域 if (!classifier || !use_classifier) { /* 如果分类器不可用或者不使用分类器 */ - cv::Mat roi = src(armor_box.rect).clone(), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */ + cv::Mat roi = src(target_box.rect).clone(), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */ cv::cvtColor(roi, roi_gray, CV_RGB2GRAY); cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY); contour_area = cv::countNonZero(roi_gray); } tracker = TrackerToUse::create(); // 成功搜寻到装甲板，创建tracker对象 - tracker->init(src, armor_box.rect); + tracker->init(src, target_box.rect); state = TRACKING_STATE; tracking_cnt = 0; LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track")); @@ -92,7 +95,7 @@ end: antiTop(); if (show_armor_box) { // 根据条件显示当前目标装甲板 - showArmorBox("box", src, armor_box); + showArmorBox("box", src, target_box); cv::waitKey(1); } } diff --git a/armor/src/armor_finder/find/find_armor_box.cpp b/armor/src/armor_finder/find/find_armor_box.cpp index 1e9f1ae..c4a5194 100644 --- a/armor/src/armor_finder/find/find_armor_box.cpp +++ b/armor/src/armor_finder/find/find_armor_box.cpp @@ -147,9 +147,18 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) { armor_box.id = c; } }, armor_boxes.size()); - sort(armor_boxes.begin(), armor_boxes.end()); - if(armor_boxes[0].id != 0){ - box = armor_boxes[0]; + sort(armor_boxes.begin(), armor_boxes.end(), [&](const ArmorBox &a, const ArmorBox &b){ + if(last_box.rect != cv::Rect2d()){ + return getPointLength(a.getCenter()-last_box.getCenter()) < + getPointLength(b.getCenter()-last_box.getCenter()); + }else{ + return a < b; + } + }); + for(auto &one_box : armor_boxes){ + if(one_box.id != 0){ + box = one_box; + } } if (save_labelled_boxes) { for (const auto &one_box : armor_boxes) { diff --git a/armor/src/armor_finder/searching_state/searching_state.cpp b/armor/src/armor_finder/searching_state/searching_state.cpp index 5049093..6e04a94 100644 --- a/armor/src/armor_finder/searching_state/searching_state.cpp +++ b/armor/src/armor_finder/searching_state/searching_state.cpp @@ -8,10 +8,31 @@ #include bool ArmorFinder::stateSearchingTarget(cv::Mat &src) { - if(findArmorBox(src, armor_box)){ - return true; - }else{ - armor_box = ArmorBox(); + if (findArmorBox(src, target_box)) { + if (last_box.rect != cv::Rect2d() && + (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 2.0) && + anti_switch_cnt++ < 3) { + target_box = ArmorBox(); + LOGM("anti-switch!"); + return false; + } else { + anti_switch_cnt = 0; + return true; + } + } else { + target_box = ArmorBox(); + anti_switch_cnt++; return false; } } + +/* +bool ArmorFinder::stateSearchingTarget(cv::Mat &src) { + if (findArmorBox(src, target_box)) { + return true; + } else { + target_box = ArmorBox(); + return false; + } +} +*/ \ No newline at end of file diff --git a/armor/src/armor_finder/send_target/send_target.cpp b/armor/src/armor_finder/send_target/send_target.cpp index 3212a91..8e45ad0 100644 --- a/armor/src/armor_finder/send_target/send_target.cpp +++ b/armor/src/armor_finder/send_target/send_target.cpp @@ -42,11 +42,11 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t sh } bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) { - if (armor_box.rect == cv::Rect2d()) return false; + if (target_box.rect == cv::Rect2d()) return false; if (shoot_delay) { - LOGM(STR_CTR(WORD_BLUE, "shoot after %dms"), shoot_delay); + LOGM(STR_CTR(WORD_BLUE, "next box %dms"), shoot_delay); } - auto rect = armor_box.rect; + auto rect = target_box.rect; double dx = rect.x + rect.width / 2 - IMAGE_CENTER_X; double dy = rect.y + rect.height / 2 - IMAGE_CENTER_Y; double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI; diff --git a/armor/src/armor_finder/tracking_state/tracking_state.cpp b/armor/src/armor_finder/tracking_state/tracking_state.cpp index 9a05d6b..53689dc 100644 --- a/armor/src/armor_finder/tracking_state/tracking_state.cpp +++ b/armor/src/armor_finder/tracking_state/tracking_state.cpp @@ -7,13 +7,13 @@ #include bool ArmorFinder::stateTrackingTarget(cv::Mat &src) { - auto pos = armor_box.rect; + auto pos = target_box.rect; if(!tracker->update(src, pos)){ - armor_box = ArmorBox(); + target_box = ArmorBox(); return false; } if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){ - armor_box = ArmorBox(); + target_box = ArmorBox(); return false; } @@ -32,35 +32,37 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) { ArmorBox box; if(findArmorBox(roi, box)) { - armor_box = box; - armor_box.rect.x += bigger_rect.x; - armor_box.rect.y += bigger_rect.y; - for(auto &blob : armor_box.light_blobs){ + target_box = box; + target_box.rect.x += bigger_rect.x; + target_box.rect.y += bigger_rect.y; + for(auto &blob : target_box.light_blobs){ blob.rect.center.x += bigger_rect.x; blob.rect.center.y += bigger_rect.y; } tracker = TrackerToUse::create(); - tracker->init(src, armor_box.rect); + tracker->init(src, target_box.rect); }else{ - roi = src(pos).clone(); - if(classifier){ - cv::resize(roi, roi, cv::Size(48, 36)); - if(classifier(roi) == 0){ - armor_box = ArmorBox(); - return false; - } - }else{ - cv::Mat roi_gray; - cv::cvtColor(roi, roi_gray, CV_RGB2GRAY); - cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY); - contour_area = cv::countNonZero(roi_gray); - if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){ - armor_box = ArmorBox(); - return false; - } - } - armor_box.rect = pos; - armor_box.light_blobs.clear(); +// roi = src(pos).clone(); +// if(classifier){ +// cv::resize(roi, roi, cv::Size(48, 36)); +// if(classifier(roi) == 0){ +// target_box = ArmorBox(); +// return false; +// } +// }else{ +// cv::Mat roi_gray; +// cv::cvtColor(roi, roi_gray, CV_RGB2GRAY); +// cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY); +// contour_area = cv::countNonZero(roi_gray); +// if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){ +// target_box = ArmorBox(); +// return false; +// } +// } +// target_box.rect = pos; +// target_box.light_blobs.clear(); + target_box = ArmorBox(); + return false; } return true; } diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index 14f27cb..867a12c 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -66,6 +66,7 @@ private: int send_cnt;//向主控板发送的数据总次数 int camera_cnt;//摄像头数量 + int fans_cnt;//扇叶个数 int last_fans_cnt;//上一帧的扇叶个数 int guess_devide;//刚进入猜测状态时，猜测目标点在极坐标中的分区 int energy_rotation_direction;//风车旋转方向 diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp index aaa6327..80caba9 100644 --- a/energy/src/energy/clear/energy_init.cpp +++ b/energy/src/energy/clear/energy_init.cpp @@ -30,6 +30,7 @@ void Energy::initEnergy() { send_cnt = 0; camera_cnt = 1; + fans_cnt = 0; last_fans_cnt = 0; guess_devide = 0; energy_rotation_direction = ANTICLOCKWISE; @@ -86,15 +87,15 @@ void Energy::initEnergyPartParam() { gimbal_energy_part_param_.FAN_GRAY_THRESH = 75; gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80; - gimbal_energy_part_param_.FAN_CONTOUR_AREA_MAX = 6600; - gimbal_energy_part_param_.FAN_CONTOUR_AREA_MIN = 0; - gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 80; - gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 100; + gimbal_energy_part_param_.FAN_CONTOUR_AREA_MAX = 3000; + gimbal_energy_part_param_.FAN_CONTOUR_AREA_MIN = 500; + gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 55; + gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 95; gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 20; gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 52; - gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4; - gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1; - gimbal_energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN = 0.65; + gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 3.5; + gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1.2; + gimbal_energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN = 0.6; gimbal_energy_part_param_.FAN_NON_ZERO_RATE_MAX = 0.8; gimbal_energy_part_param_.FAN_NON_ZERO_RATE_MIN = 0.48; // gimbal_energy_part_param_.FAN_NON_ZERO_RATE_MAX = 0.3; diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp index 537baab..57e31fc 100644 --- a/energy/src/energy/find/energy_finder.cpp +++ b/energy/src/energy/find/energy_finder.cpp @@ -1,4 +1,4 @@ -// +// // Created by xixiliadorabarry on 1/24/19. // #include "energy/energy.h" @@ -39,14 +39,13 @@ int Energy::findFans(const cv::Mat src) { // float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width; // float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; // double cur_contour_area = contourArea(fan_contour); -// double non_zero_rate = nonZeroRateOfRotateRect(src_bin, cur_rect); -// if (length > 60 && width > 20) { -// fans.emplace_back(cv::minAreaRect(fan_contour)); -// cout << cur_rect.center << endl; -// cout << "fan area: " << length << '\t' << width << endl; -// cout << "non zero: " << nonZeroRateOfRotateRect(src_bin, cur_rect) << endl; -// cout << "rate: " << cur_contour_area / cur_size.area() << endl; -// } +// float length_width_ratio = length / width; +// cout << "area: " << cur_contour_area << '\t' << endl; +// cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl; +// cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl; +// cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl; +// cout< 0.3 || abs(center_delta_pitch) > 0.3) { return false; } else { - origin_yaw = mcuData.curr_yaw; - origin_pitch = mcuData.curr_pitch; + origin_yaw = mcu_data.curr_yaw; + origin_pitch = mcu_data.curr_pitch; auto_mark = true; LOGM(STR_CTR(WORD_BLUE_CODE, "auto mark success!")); return true; diff --git a/energy/src/energy/judge/judge_shoot.cpp b/energy/src/energy/judge/judge_shoot.cpp index d9b9aa3..83ad028 100644 --- a/energy/src/energy/judge/judge_shoot.cpp +++ b/energy/src/energy/judge/judge_shoot.cpp @@ -14,7 +14,7 @@ using namespace cv; // 此函数用于判断世界坐标系下是否可以发弹 // --------------------------------------------------------------------------------------------------------------------- void Energy::judgeShootInWorld() { - if (abs(yaw_rotation - mcuData.curr_yaw) < 0.5 && abs(pitch_rotation - mcuData.curr_pitch) < 0.5) { + if (abs(yaw_rotation - mcu_data.curr_yaw) < 0.5 && abs(pitch_rotation - mcu_data.curr_pitch) < 0.5) { shoot = 4; // is_predicting = false; // is_guessing = true; diff --git a/energy/src/energy/mark/mark.cpp b/energy/src/energy/mark/mark.cpp index 0168f5f..bdf6c03 100644 --- a/energy/src/energy/mark/mark.cpp +++ b/energy/src/energy/mark/mark.cpp @@ -12,11 +12,11 @@ using namespace cv; // 此函数用于记录操作手的微调dx和dy // --------------------------------------------------------------------------------------------------------------------- void Energy::writeDownSlightChange(cv::Mat &src) { - if (findFans(src) >= 4) { + if (fans_cnt >= 4) { FILE *fp_delta = fopen(PROJECT_DIR"/Mark/delta.txt", "w"); if (fp_delta) { - fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcuData.delta_x + manual_delta_x, - mcuData.delta_y + manual_delta_y); + fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcu_data.delta_x + manual_delta_x, + mcu_data.delta_y + manual_delta_y); fclose(fp_delta); } } diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index 0eaa6e2..9cf3006 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -89,6 +89,8 @@ void Energy::runBig(cv::Mat &gimbal_src) { if (show_energy)showFlowStrip("strip", gimbal_src); if (!findCenterR(gimbal_src))return; if (show_energy)showCenterR("R", gimbal_src); + fans_cnt = findFans(gimbal_src); + if (show_energy)showFans("fans", gimbal_src); // getCenter(); // sendEnergy(); @@ -127,7 +129,9 @@ void Energy::runSmall(cv::Mat &gimbal_src) { if (!findTargetInFlowStripFan()) return; if (!findFlowStrip(gimbal_src))return; } - if(show_energy)showTarget("target", gimbal_src); + if (show_energy)showTarget("target", gimbal_src); + fans_cnt = findFans(gimbal_src); + if (show_energy)showFans("fans", gimbal_src); // getCenter(); // sendEnergy(); diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp index 36d0476..2feaa77 100644 --- a/energy/src/energy/send/send.cpp +++ b/energy/src/energy/send/send.cpp @@ -19,30 +19,45 @@ void Energy::sendEnergy() { sum_yaw += yaw_rotation; sum_pitch += pitch_rotation; MINMAX(sum_yaw, -100, 100); - MINMAX(sum_pitch, -100, 100);\ + MINMAX(sum_pitch, -100, 100); + double tmp_yaw = yaw_rotation; + double tmp_pitch = pitch_rotation; yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw + BIG_YAW_AIM_KD * (yaw_rotation - last_yaw); pitch_rotation = BIG_PITCH_AIM_KP * pitch_rotation + BIG_PITCH_AIM_KI * sum_pitch + BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch); + last_yaw = tmp_yaw; + last_pitch = tmp_pitch; } else if (is_chassis) { - sum_yaw += yaw_rotation - mcuData.curr_yaw; - sum_pitch += pitch_rotation - mcuData.curr_pitch; - yaw_rotation = BIG_YAW_AIM_KP * (yaw_rotation - mcuData.curr_yaw) + BIG_YAW_AIM_KI * sum_yaw; - pitch_rotation = BIG_PITCH_AIM_KP * (pitch_rotation - mcuData.curr_pitch) + BIG_PITCH_AIM_KI * sum_pitch; + sum_yaw += yaw_rotation - mcu_data.curr_yaw; + sum_pitch += pitch_rotation - mcu_data.curr_pitch; + double tmp_yaw = yaw_rotation; + double tmp_pitch = pitch_rotation; + yaw_rotation = BIG_YAW_AIM_KP * (yaw_rotation - mcu_data.curr_yaw) + BIG_YAW_AIM_KI * sum_yaw; + pitch_rotation = BIG_PITCH_AIM_KP * (pitch_rotation - mcu_data.curr_pitch) + BIG_PITCH_AIM_KI * sum_pitch; + last_yaw = tmp_yaw; + last_pitch = tmp_pitch; } } else if (is_small){ sum_yaw += yaw_rotation; sum_pitch += pitch_rotation; MINMAX(sum_yaw, -100, 100); MINMAX(sum_pitch, -100, 100); + double tmp_yaw = yaw_rotation; + double tmp_pitch = pitch_rotation; yaw_rotation = SMALL_YAW_AIM_KP * yaw_rotation + SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw); pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch); + last_yaw = tmp_yaw; + last_pitch = tmp_pitch; } + if (change_target) { sendTarget(serial, yaw_rotation, pitch_rotation, 5, 0); } else if (is_guessing) { sendTarget(serial, yaw_rotation, pitch_rotation, 6, 0); - } else { + } /*else if (fans_cnt >= 4) { + sendTarget(serial, yaw_rotation, pitch_rotation, 7, 0); + }*/ else { sendTarget(serial, yaw_rotation, pitch_rotation, shoot, 0); } diff --git a/main.cpp b/main.cpp index 7963269..bac5761 100644 --- a/main.cpp +++ b/main.cpp @@ -27,7 +27,7 @@ using namespace cv; using namespace std; -mcu_data mcuData = { // 单片机端回传结构体 +McuData mcu_data = { // 单片机端回传结构体 0, // 当前云台yaw角 0, // 当前云台pitch角 ARMOR_STATE, // 当前状态，自瞄-大符-小符 @@ -44,9 +44,9 @@ WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源 Serial serial(115200); // 串口对象 uint8_t last_state = INIT_STATE; // 上次状态，用于初始化 // 自瞄主程序对象 -ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier); +ArmorFinder armorFinder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.use_classifier); // 能量机关主程序对象 -Energy energy(serial, mcuData.enemy_color); +Energy energy(serial, mcu_data.enemy_color); int box_distance = 0; @@ -66,8 +66,8 @@ int main(int argc, char *argv[]) { video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/); video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/); } else { - video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/new/18.avi"); - video_chassis = new VideoWrapper("/home/sun/项目/energy_video/new/18.avi"); + video_gimbal = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi"); + video_chassis = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi"); } if (video_gimbal->init()) { LOGM("video_gimbal source initialization successfully."); @@ -94,93 +94,91 @@ int main(int argc, char *argv[]) { cout << "start running" << endl; do { CNT_TIME("Total", { - if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式 - if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化 - LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!")); - destroyAllWindows(); - if (from_camera) { - delete video_gimbal; - video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/); - if (video_gimbal->init()) { - LOGM("video_gimbal source initialization successfully."); - } else { - LOGW("video_gimbal source unavailable!"); - } + if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式 + if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化 + LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!")); + destroyAllWindows(); + if (from_camera) { + delete video_gimbal; + video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/); + if (video_gimbal->init()) { + LOGM("video_gimbal source initialization successfully."); + } else { + LOGW("video_gimbal source unavailable!"); } - checkReconnect(video_chassis->read(chassis_src)); - energy.setBigEnergyInit(); } - last_state = mcuData.state;//更新上一帧状态 - ok = checkReconnect(video_gimbal->read(gimbal_src)); - video_chassis->read(chassis_src); + checkReconnect(video_chassis->read(chassis_src)); + energy.setBigEnergyInit(); + } + last_state = mcu_data.state;//更新上一帧状态 + ok = checkReconnect(video_gimbal->read(gimbal_src)); + video_chassis->read(chassis_src); #ifdef GIMBAL_FLIP_MODE - flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); + flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); #endif #ifdef CHASSIS_FLIP_MODE - flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE); + flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE); #endif - if (!from_camera) extract(gimbal_src, chassis_src); - if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频 - if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像 -// energy.runBig(gimbal_src, chassis_src); - energy.runBig(gimbal_src); - if (show_energy || show_process) waitKey(1); - } else if (mcuData.state == SMALL_ENERGY_STATE) { - if (last_state != SMALL_ENERGY_STATE) { - LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!")); - destroyAllWindows(); - if (from_camera) { - delete video_gimbal; - video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/); - if (video_gimbal->init()) { - LOGM("video_gimbal source initialization successfully."); - } else { - LOGW("video_gimbal source unavailable!"); - } - } - energy.setSmallEnergyInit(); - } - last_state = mcuData.state;//更新上一帧状态 - ok = checkReconnect(video_gimbal->read(gimbal_src)); -#ifdef GIMBAL_FLIP_MODE - flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); -#endif - if (!from_camera) extract(gimbal_src); - if (save_video) saveVideos(gimbal_src);//保存视频 - if (show_origin) showOrigin(gimbal_src);//显示原始图像 - energy.runSmall(gimbal_src); - if (show_energy || show_process) waitKey(1); - } else { // 自瞄模式 - if (last_state != ARMOR_STATE) { - LOGM(STR_CTR(WORD_RED, "Start Armor!")); - destroyAllWindows(); - if (from_camera) { - delete video_gimbal; - video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/); - if (video_gimbal->init()) { - LOGM("video_gimbal source initialization successfully."); - } else { - LOGW("video_gimbal source unavailable!"); - } + if (!from_camera) extract(gimbal_src, chassis_src); + if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频 + if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像 + energy.runBig(gimbal_src, chassis_src); +// energy.runBig(gimbal_src); + } else if (mcu_data.state == SMALL_ENERGY_STATE) { + if (last_state != SMALL_ENERGY_STATE) { + LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!")); + destroyAllWindows(); + if (from_camera) { + delete video_gimbal; + video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/); + if (video_gimbal->init()) { + LOGM("video_gimbal source initialization successfully."); + } else { + LOGW("video_gimbal source unavailable!"); } } - last_state = mcuData.state; - CNT_TIME(STR_CTR(WORD_GREEN, "read img"), { - if (!checkReconnect(video_gimbal->read(gimbal_src))) continue; - }); + energy.setSmallEnergyInit(); + } + last_state = mcu_data.state;//更新上一帧状态 + ok = checkReconnect(video_gimbal->read(gimbal_src)); #ifdef GIMBAL_FLIP_MODE - flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); + flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); +#endif + if (!from_camera) extract(gimbal_src); + if (save_video) saveVideos(gimbal_src);//保存视频 + if (show_origin) showOrigin(gimbal_src);//显示原始图像 + energy.runSmall(gimbal_src); + } else { // 自瞄模式 + if (last_state != ARMOR_STATE) { + LOGM(STR_CTR(WORD_RED, "Start Armor!")); + destroyAllWindows(); + if (from_camera) { + delete video_gimbal; + video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/); + if (video_gimbal->init()) { + LOGM("video_gimbal source initialization successfully."); + } else { + LOGW("video_gimbal source unavailable!"); + } + } + } + last_state = mcu_data.state; + CNT_TIME(STR_CTR(WORD_GREEN, "read img"), { + if(!checkReconnect(video_gimbal->read(gimbal_src))) continue; + }); +#ifdef GIMBAL_FLIP_MODE + flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); #endif // CNT_TIME("something whatever", { if (!from_camera) extract(gimbal_src); if (save_video) saveVideos(gimbal_src); if (show_origin) showOrigin(gimbal_src); // }); - CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), { - armorFinder.run(gimbal_src); - }); - } -// cv::waitKey(0); + CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), { + armorFinder.run(gimbal_src); + }); + } +// cv::waitKey(0); }); } while (ok); delete video_gimbal; diff --git a/others/include/additions.h b/others/include/additions.h index f51fdac..a6edadf 100644 --- a/others/include/additions.h +++ b/others/include/additions.h @@ -10,7 +10,7 @@ #include #include -struct mcu_data { +struct McuData { float curr_yaw; float curr_pitch; uint8_t state; @@ -21,7 +21,7 @@ struct mcu_data { int delta_y; }; -extern mcu_data mcuData; +extern McuData mcu_data; void uartReceive(Serial *pSerial); @@ -43,6 +43,8 @@ void extract(cv::Mat &gimbal_src); float getTimeIntervalms(const systime &now, const systime &last); +double getPointLength(const cv::Point2f &p); + template class RoundQueue { private: diff --git a/others/include/config/setconfig.h b/others/include/config/setconfig.h index f831bbd..0768d1c 100644 --- a/others/include/config/setconfig.h +++ b/others/include/config/setconfig.h @@ -32,31 +32,31 @@ #define ENERGY_CAMERA_GAIN (20) #endif #ifndef SMALL_YAW_AIM_KD - #define SMALL_YAW_AIM_KD (1.5) + #define SMALL_YAW_AIM_KD (0) #endif #ifndef SMALL_YAW_AIM_KP - #define SMALL_YAW_AIM_KP (2.5) + #define SMALL_YAW_AIM_KP (4) #endif #ifndef SMALL_PITCH_AIM_KD - #define SMALL_PITCH_AIM_KD (1.3) + #define SMALL_PITCH_AIM_KD (0) #endif #ifndef SMALL_PITCH_AIM_KP - #define SMALL_PITCH_AIM_KP (2.4) + #define SMALL_PITCH_AIM_KP (3.7) #endif #ifndef BIG_YAW_AIM_KD - #define BIG_YAW_AIM_KD (0.7) + #define BIG_YAW_AIM_KD (0) #endif #ifndef BIG_YAW_AIM_KP - #define BIG_YAW_AIM_KP (4.5) + #define BIG_YAW_AIM_KP (6.5) #endif #ifndef BIG_YAW_AIM_KI #define BIG_YAW_AIM_KI (0.1) #endif #ifndef BIG_PITCH_AIM_KD - #define BIG_PITCH_AIM_KD (0.7) + #define BIG_PITCH_AIM_KD (0) #endif #ifndef BIG_PITCH_AIM_KP - #define BIG_PITCH_AIM_KP (4.5) + #define BIG_PITCH_AIM_KP (6.5) #endif #ifndef BIG_PITCH_AIM_KI #define BIG_PITCH_AIM_KI (0.1) diff --git a/others/src/additions.cpp b/others/src/additions.cpp index ea030c6..81af7c2 100644 --- a/others/src/additions.cpp +++ b/others/src/additions.cpp @@ -34,12 +34,12 @@ void uartReceive(Serial *pSerial) { LOGM(STR_CTR(WORD_LIGHT_WHITE, "data receive start!")); while (true) { memset(buffer, 0, sizeof(buffer)); - pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1); - if (buffer[sizeof(mcuData)] == '\n') { - memcpy(&mcuData, buffer, sizeof(mcuData)); -// LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark); -// LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch); -// LOGM("Get delta x: %d, delta y: %d!", mcuData.delta_x, mcuData.delta_y); + pSerial->ReadData((uint8_t *) buffer, sizeof(mcu_data)+1); + if (buffer[sizeof(mcu_data)] == '\n') { + memcpy(&mcu_data, buffer, sizeof(mcu_data)); +// LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark); +// LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch); +// LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y); // static int t = time(nullptr); // static int cnt = 0; // if(time(nullptr) > t){ @@ -173,3 +173,7 @@ void extract(cv::Mat &gimbal_src) {//图像预处理，将视频切成640×480 float getTimeIntervalms(const systime &now, const systime &last){ return (now.second-last.second)*1000.0 + (now.millisecond-last.millisecond); } + +double getPointLength(const cv::Point2f &p) { + return sqrt(p.x * p.x + p.y * p.y); +} diff --git a/tools/TrainCNN/backward.py b/tools/TrainCNN/backward.py index 8100c01..fc88244 100755 --- a/tools/TrainCNN/backward.py +++ b/tools/TrainCNN/backward.py @@ -96,7 +96,7 @@ def train(dataset, show_bar=False): _, loss_value, step = sess.run( [train_op, loss, global_step], - feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.4} + feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.3} ) if step % 500 == 0: diff --git a/tools/create-startup.sh b/tools/create-startup.sh index e2b252b..fad1680 100755 --- a/tools/create-startup.sh +++ b/tools/create-startup.sh @@ -2,6 +2,8 @@ echo "#!/bin/bash" > $2/startup-run echo "echo sjturm | sudo -S cpufreq-set -g performance" >> $2/startup-run -echo "$1/tools/auto-pull.sh" >> $2/startup-run +echo "mkdir $1/Mark" >> $2/startup-run +echo "mkdir $1/gimbal_video" >> $2/startup-run +echo "mkdir $1/armor_box_photo" >> $2/startup-run echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart --save-labelled-boxes\\\"\"" >> $2/startup-run chmod +x $2/startup-run diff --git a/tools/para/conv1_b b/tools/para/conv1_b index ce34e82..9024bfa 100644 --- a/tools/para/conv1_b +++ b/tools/para/conv1_b @@ -1,5 +1,5 @@ 4 -0.30789205 --0.043525748 -0.2050164 -0.74044687 +-0.028037319 +0.5437552 +0.26716635 +0.15804483 diff --git a/tools/para/conv1_w b/tools/para/conv1_w index b08b35d..0d06cb0 100644 --- a/tools/para/conv1_w +++ b/tools/para/conv1_w @@ -2,303 +2,303 @@ 4 5 5 --0.10729549 -0.09332296 -0.16133511 --0.030649675 -0.06557881 --0.053242918 -0.19213735 -0.15569621 -0.3419906 -0.1786888 -0.19507813 -0.24212381 -0.4231631 -0.08838954 -0.14048508 -0.15044038 -0.28268903 -0.13327996 -0.15814759 --0.112561114 -0.056091413 -0.16789797 --0.11966196 -0.038136892 --0.14447927 -0.5679466 -0.48397887 -0.70058227 -0.5070652 -0.62130994 -0.5227163 -0.6784681 -0.5526853 -0.5210595 -0.396152 -0.31640542 -0.459686 -0.5702434 -0.5931808 -0.36256674 -0.3457865 -0.37771964 -0.4625998 -0.47415066 -0.3938988 -0.49735737 -0.26142278 -0.32298478 -0.3374469 -0.47159982 --0.18274228 --0.28124171 --0.20628488 --0.10543057 --0.05156752 --0.091269255 --0.0054441793 -0.11289734 --0.03441205 --0.13315572 -0.20559654 -0.10798551 --0.07475637 --0.0047787298 --0.22890174 -0.09388285 -0.059628867 -0.019401075 -0.05334341 --0.1582362 -0.017811468 --0.04889371 --0.065829955 --0.04788549 --0.33305293 --0.19116391 --0.28003454 --0.0820173 --0.26577657 --0.11826798 --0.39622292 --0.36510658 --0.11750732 --0.24734864 --0.2803419 --0.1519 --0.23317525 --0.007902931 --0.16537969 --0.19139121 --0.023329364 --0.30243063 --0.24868572 --0.029912082 --0.23020941 --0.31355116 --0.11182503 --0.0692445 --0.35592338 --0.09419684 -0.14571323 -0.5725029 -1.193062 -1.2903835 -0.9622877 -0.525414 -1.0394033 -1.4996175 -1.8389359 -1.3628953 -0.80069596 -1.4277213 -1.6703882 -1.7443689 -1.4166398 -0.6203115 -1.1946497 -1.7266799 -1.6697397 -1.3126082 -0.47843987 -0.89622074 -1.0277275 -1.0125589 -0.8202855 -0.5230944 -0.6464553 -0.5895753 -0.54708016 -0.26677945 -0.4320181 -0.59073323 -0.50776094 -0.50096244 -0.4625974 -0.49336708 -0.34545958 -0.56925744 -0.34867597 -0.16094568 -0.3861315 -0.5891766 -0.2174486 -0.20948303 -0.1000691 -0.21441981 -0.22367561 -0.19896027 -0.13936864 -0.03653052 -0.084119834 -0.3999692 -0.5730208 -0.6282694 -0.37436715 -0.46807006 -0.78820395 -0.96178275 -0.90761256 -0.87396187 -0.53964555 -0.9532658 -0.9813636 -1.0613359 -0.7933851 -0.5819338 -0.9753471 -1.2284292 -0.94796246 -0.82767236 -0.499911 -0.75207883 -0.68719465 -0.8145963 -0.6596423 -0.011669106 -0.18070999 -0.36343256 -0.3169534 -0.20783305 -0.03404153 -0.43459386 -0.36061177 -0.43950805 -0.38309076 -0.25803936 -0.4289157 -0.58764404 -0.58137804 -0.46296367 -0.1991764 -0.33899468 -0.64967453 -0.74104553 -0.57953227 -0.1818072 -0.32919815 -0.6142047 -0.47143123 -0.3723565 --0.29113623 -0.08584255 -0.49546224 -0.80879575 -0.72197473 --0.01818511 -0.4448289 -0.86975175 -1.0318508 -0.70635146 -0.2590701 -0.55703586 -1.2021183 -1.1355498 -0.929514 --0.0021778075 -0.49526876 -0.8620847 -0.97750324 -0.80483395 -0.066819414 -0.0533782 -0.2378203 -0.48883578 -0.46825472 --0.08690677 --0.098846406 --0.11066464 --0.33117262 --0.13379335 --0.10680438 --0.092536114 --0.06396752 --0.2411913 --0.4162492 --0.27065766 --0.0127258655 --0.22221713 --0.10054428 --0.25341535 --0.36750633 --0.0970442 --0.28783646 --0.3083135 --0.37662375 --0.24937427 --0.36285818 --0.32178807 --0.41167092 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c520e3a..5a2bbdb 100644 --- a/tools/para/conv3_b +++ b/tools/para/conv3_b @@ -1,9 +1,9 @@ 8 -0.90704066 -0.90517473 -0.74172145 -0.32090998 -0.19756256 -0.93943995 -0.96109724 --0.33604085 +1.8607159 +0.8140447 +0.02090901 +0.12166861 +1.401096 +1.6002591 +0.9205242 +0.52036697 diff --git a/tools/para/conv3_w b/tools/para/conv3_w index 99ccb31..ef6b1a3 100644 --- a/tools/para/conv3_w +++ b/tools/para/conv3_w @@ -2,435 +2,435 @@ 8 3 3 --0.14467798 -0.12162628 -0.02385648 -0.0921811 -0.15891269 --0.47317922 --0.12099915 --0.049982212 --0.09452215 -0.38189477 -0.36527324 --0.14960521 -0.13709542 --0.0033987386 -0.019212969 --0.10601569 -0.04577164 -0.029857265 -0.08732227 -0.192233 --0.3347368 --0.027076617 -0.09737525 --0.09680313 --0.394165 --0.2371472 --0.21733402 -0.044801254 --0.1320818 --0.3513149 -0.12631866 -0.14847036 --0.29873094 -0.31957826 -0.036902755 --0.43065926 --0.015908783 -0.07150033 --0.012287875 -0.03288042 -0.07365702 -0.09284159 --0.015458295 -0.010469522 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